CN109211270A - A kind of fault detection system of inertia astronomical satellite combined navigation device - Google Patents
A kind of fault detection system of inertia astronomical satellite combined navigation device Download PDFInfo
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- CN109211270A CN109211270A CN201810945732.6A CN201810945732A CN109211270A CN 109211270 A CN109211270 A CN 109211270A CN 201810945732 A CN201810945732 A CN 201810945732A CN 109211270 A CN109211270 A CN 109211270A
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- fault detection
- inertia
- navigation device
- combined navigation
- detection system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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Abstract
The invention belongs to the health management arts of integrated navigation system, are related to a kind of fault detection system of inertia astronomical satellite combined navigation device.The combined navigation device includes that inertia sensing assembly, SERVO CONTROL and driving, survey star sensor and satellite receiver is characterized by: the fault detection system includes four independent processors, four independent processors carry out independent fault detection to inertia sensing assembly, SERVO CONTROL and driving, survey star sensor and satellite receiver respectively, and four independent processors are respectively the processing module that different function task is undertaken in combined navigation device.Solve the fault detection problem of each functional module of complex combination navigation system.
Description
Technical field
The invention belongs to the health management arts of integrated navigation system, are related to a kind of inertia astronomical satellite combined navigation device
Fault detection system.
Background technique
In recent years, inertial navigation system realizes the group expanded as Multi-sensor Fusion via single inertia device before
Navigation system is closed, common ancillary sources include satellite, astronomy etc..The implementation of inertial navigation itself is also pure from before
Strapdown is transitioned into rotation modulation formula.Function diversification and realize complication so that in system functional module increase, failure
Mode and detection demand are also increase accordingly, this just needs to propose new failure detection schemes for physics realization.
Summary of the invention
Present invention solves the technical problem that: solve the fault detection problem of each functional module of complex combination navigation system.
Technical solution of the present invention: a kind of fault detection system of inertia astronomical satellite combined navigation device, the group
Closing navigation device includes that inertia sensing assembly, SERVO CONTROL and driving, survey star sensor and satellite receiver is characterized by: described
Fault detection system include four independent processors, four independent processors are respectively to inertia sensing assembly, servo control
Star sensor and the independent fault detection of satellite receiver progress are surveyed in system and driving, and four independent processors are respectively to combine
The processing module of different function task is undertaken in navigation device.
Preferably, four processors are respectively that the inertia in combined navigation device resolves computer, SERVO CONTROL
Computer, astronomical resolving computer and sattlite navigation computer.Each processor is completed outside itself navigation or control algolithm in fact
The multiplexing of existing detection function, while convenient for the Fault Isolation between disparate modules.
Preferably, the fault detection system further includes comprehensive treatment device, and comprehensive treatment device completes combined navigation device
The fault detection of external interface circuit and power supply.Realize the fault detection demand other than four modules.
Preferably, four independent processors will test result be packaged into faulty word be sent to by data/address bus it is comprehensive
Close processor.It realizes system failure deciding grade and level and reports the unification of processing.
Preferably, the comprehensive treatment device is the integrated navigation computer in combined navigation device.
Preferably, synthesis is transferred to as the synchronised clock of fault detection system using the sampling clock of inertia sensing assembly
Processor, the benchmark that comprehensive treatment device is received and reported using the synchronised clock as fault data, and pass through FPGA for the clock
It is distributed to processor, the reference period of data acquisition and breakdown judge as processor.Ensure that fault message detection, on
The real-time of report and processing.
Beneficial effects of the present invention: the fault detection capability of the complicated integrated navigation system of Multi-sensor Fusion is realized；
Be conducive to the isolation and positioning of failure using Distributed Detection mode, while reducing the fault detection work of comprehensive treatment device
Amount；Be conducive to that troubleshooting is synchronous with what is reported and total system operating mode using a processor is comprehensive to fault message
Switching.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of inertia astronomical satellite combined navigation device fault detection system of the present invention.
Specific embodiment
Now in conjunction with attached drawing, embodiment, invention is further described in detail:
A kind of integrated navigation rotation modulation system comprising inertia, satellite and astronomy, including inertia sensing assembly, servo control
Power supply needed for system and drive module, satellite receiver, survey star sensor, comprehensive treatment device, external interface circuit and each module
Equal components.
Inertia sensing assembly completes control, data sampling, filtering and the resolving function of inertial sensor.Fault detection content
Fault verification, probe power detection, temperature detection, inertia processor and its week including gyro plus meter and its interlock circuit
The detection of side chip, to comprehensive treatment device bus interface detection, sensing data reasonability judgement and other performance detections.
SERVO CONTROL and drive module mainly complete the angle measurement of rotation modulation frame, the control and drive to frame motor
It is dynamic.Fault detection content includes flying to turn, the clamping stagnation of frame, driving output stage to detect, at the deviation of indexing, SERVO CONTROL for frame
Manage the detection of device and its periphery chip, to comprehensive treatment device bus interface detection etc..
The measurement that star sensor mainly completes high-precision attitude course information is surveyed, inertial navigation components error is repaired
Just.Fault detection content include video processing module detection, gyro detection, star tracker detection, the detection of astronomical excitation power supply,
Astronomical SERVO CONTROL detection, the detection of sensor processor, synchronised clock detect and to comprehensive treatment device bus interface detection etc..
Satellite receiver mainly completes the processing and analog-to-digital conversion of radiofrequency signal, final output navigation results.Fault detection
Content includes pulse per second (PPS) punctuality, each band satellite path validity, the losing lock of phaselocked loop, the integrity of antenna channels, receives
The detection of machine processor and its periphery chip, to comprehensive treatment device bus interface detection etc..
Above four kinds of testing results pass through respective processor be packaged as faulty word be sent to by data/address bus it is comprehensive
Close processor.
External interface circuit mainly completes the data exchange with external other equipment.Fault detection content includes 1553B total
Line detection, the detection of ARINC429 bus, RS422 transmitting-receiving detection, the detection of DS data module etc..
Power supply provides direct current or alternating current after filtering, Surge suppression and pressure stabilizing mainly for system all devices
Source, detection content include entrance power detecting, Secondary Direct Electrical Resources detection, servo power supply detection, excitation power supply detection etc..
Both the above failure is directly detected by comprehensive treatment device, and wherein bus detection can be returned by the IP kernel of FPGA
Testing result is returned, can also directly be judged by application software.The physical quantity of power detecting can be analog quantity be also possible to from
Dissipate amount.Furthermore comprehensive treatment device is also responsible for the detection of periphery chip, including RAM, EEPROM and FLASH etc..
All fail results periodically report comprehensive treatment device, influence journey of the comprehensive treatment device further according to each failure
Degree and function logic provide corresponding processing movement and operating mode switching.And it is by processor own bus interface and externally total
Line or discrete magnitude reporting fault state.
For guarantee fault message detection, report with processing real-time, inertia processor by its gyro and plus in terms of adopt
Synchronised clock of the sample clock as fault detection system, is transferred to comprehensive treatment device, comprehensive treatment device using the synchronised clock as
The benchmark that fault data is received and reported, and the clock is distributed to by other three processors by FPGA, as SERVO CONTROL
The data of processor, satellite receiver and sensor processor acquire and the reference period of breakdown judge.
Claims (6)
1. a kind of fault detection system of inertia astronomical satellite combined navigation device, the combined navigation device include that inertia is quick
Feel component, SERVO CONTROL and driving, survey star sensor and satellite receiver, it is characterized in that: the fault detection system includes
Four independent processors, four independent processors are respectively to inertia sensing assembly, SERVO CONTROL and driving, survey star sensor
Independent fault detection is carried out with satellite receiver, four independent processors are respectively that different function are undertaken in combined navigation device
The processing module of energy task.
2. a kind of fault detection system of inertia astronomical satellite combined navigation device according to claim 1, it is characterized in that:
Four processors are respectively that the inertia in combined navigation device resolves computer, SERVO CONTROL computer, astronomical resolving
Computer and sattlite navigation computer.
3. a kind of fault detection system of inertia astronomical satellite combined navigation device according to claim 1, it is characterized in that:
The fault detection system further includes comprehensive treatment device, and comprehensive treatment device completes combined navigation device external interface circuit and electricity
The fault detection in source.
4. a kind of fault detection system of inertia astronomical satellite combined navigation device according to claim 3, it is characterized in that:
Four independent processors, which will test result and be packaged into faulty word, is sent to comprehensive treatment device by data/address bus.
5. a kind of fault detection system of inertia astronomical satellite combined navigation device according to claim 3, it is characterized in that:
The comprehensive treatment device is the integrated navigation computer in combined navigation device.
6. a kind of fault detection system of inertia astronomical satellite combined navigation device according to claim 3, it is characterized in that:
Using the sampling clock of inertia sensing assembly as the synchronised clock of fault detection system, it is transferred to comprehensive treatment device, integrated treatment
The benchmark that device is received and reported using the synchronised clock as fault data, and the clock is distributed to by processor by FPGA, make
For the reference period of the data acquisition and breakdown judge of processor.
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| CN201810945732.6A CN109211270B (en) | 2018-08-17 | 2018-08-17 | Fault detection system of inertial astronomical satellite integrated navigation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810945732.6A CN109211270B (en) | 2018-08-17 | 2018-08-17 | Fault detection system of inertial astronomical satellite integrated navigation device |
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| CN109211270A true CN109211270A (en) | 2019-01-15 |
| CN109211270B CN109211270B (en) | 2022-03-15 |
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Citations (5)
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| US7219013B1 (en) * | 2003-07-31 | 2007-05-15 | Rockwell Collins, Inc. | Method and system for fault detection and exclusion for multi-sensor navigation systems |
| CN101216319A (en) * | 2008-01-11 | 2008-07-09 | 南京航空航天大学 | Low orbit satellite multi-sensor fault tolerance autonomous navigation method based on federal UKF algorithm |
| CN102654407A (en) * | 2012-04-17 | 2012-09-05 | 南京航空航天大学 | Multiple-fault detecting device and detecting method for tightly-integrated inertial satellite navigation system |
| CN102819030A (en) * | 2012-08-13 | 2012-12-12 | 南京航空航天大学 | Method for monitoring integrity of navigation system based on distributed sensor network |
| EP2717071A1 (en) * | 2012-10-05 | 2014-04-09 | Sagem Défense Sécurité | Inertial unit performing hybrid navigation by integrated loose coupling |
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2018
- 2018-08-17 CN CN201810945732.6A patent/CN109211270B/en active Active
Patent Citations (5)
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|---|---|---|---|---|
| US7219013B1 (en) * | 2003-07-31 | 2007-05-15 | Rockwell Collins, Inc. | Method and system for fault detection and exclusion for multi-sensor navigation systems |
| CN101216319A (en) * | 2008-01-11 | 2008-07-09 | 南京航空航天大学 | Low orbit satellite multi-sensor fault tolerance autonomous navigation method based on federal UKF algorithm |
| CN102654407A (en) * | 2012-04-17 | 2012-09-05 | 南京航空航天大学 | Multiple-fault detecting device and detecting method for tightly-integrated inertial satellite navigation system |
| CN102819030A (en) * | 2012-08-13 | 2012-12-12 | 南京航空航天大学 | Method for monitoring integrity of navigation system based on distributed sensor network |
| EP2717071A1 (en) * | 2012-10-05 | 2014-04-09 | Sagem Défense Sécurité | Inertial unit performing hybrid navigation by integrated loose coupling |
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| 林爱军: "基于粒子滤波的空天飞行器多源信息融合导航技术研究", 《中国优秀硕士学位论文全文数据库》 * |
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